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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8195f5c0d9a800b311ff87242d342361.html">libobsensor</a></li><li class="navelem"><a class="el" href="dir_551f50d4f6202563ca607f3aa0b67db1.html">hpp</a></li>  </ul>
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<a href="StreamProfile_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="Types_8hpp.html">Types.hpp</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">struct </span>StreamProfileImpl;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">struct </span>StreamProfileListImpl;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceob.html">ob</a> {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">class </span>VideoStreamProfile;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">class </span>GyroStreamProfile;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">class </span>AccelStreamProfile;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">class </span>Config;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfile.html">   22</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a> : <span class="keyword">public</span> std::enable_shared_from_this&lt;StreamProfile&gt; {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfile.html#a666c4ae5317ebe38efb63833231ebdaa">   24</a></span>&#160;    std::unique_ptr&lt;StreamProfileImpl&gt; <a class="code" href="classob_1_1StreamProfile.html#a666c4ae5317ebe38efb63833231ebdaa">impl_</a>;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a>(std::unique_ptr&lt;StreamProfileImpl&gt; impl);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a>(<a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a> &amp;streamProfile);</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a>() noexcept;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a> format() const;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2">OBStreamType</a> type() const;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="structOBD2CTransform.html">OBExtrinsic</a> getExtrinsicTo(std::shared_ptr&lt;<a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a>&gt; target);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    template &lt;typename T&gt; <span class="keywordtype">bool</span> is();</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfile.html#a6dd7bd423b1b391e3c647944c1ad021a">   66</a></span>&#160;    template &lt;typename T&gt; std::shared_ptr&lt;T&gt; as() {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordflow">if</span>(!is&lt;T&gt;()) {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;            <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Unsupported operation. Object&#39;s type is not the required type.&quot;</span>);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordflow">return</span> std::static_pointer_cast&lt;T&gt;(std::const_pointer_cast&lt;<a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a>&gt;(shared_from_this()));</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    }</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfile.html#ae29bab6174b34a6cba6ae54ab31ef8dd">   74</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classob_1_1Sensor.html">Sensor</a>;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfile.html#ac3da7e21a05bf8852638db7e4dd1b81a">   75</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classob_1_1Config.html">Config</a>;</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfile.html#af9f0f1adbd5baee7830839447205af8d">   76</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classob_1_1Pipeline.html">Pipeline</a>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;};</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classob_1_1VideoStreamProfile.html">   82</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1VideoStreamProfile.html">VideoStreamProfile</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a> {</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">explicit</span> <a class="code" href="classob_1_1VideoStreamProfile.html">VideoStreamProfile</a>(<a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a> &amp;profile);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">explicit</span> <a class="code" href="classob_1_1VideoStreamProfile.html">VideoStreamProfile</a>(std::unique_ptr&lt;StreamProfileImpl&gt; impl);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    ~<a class="code" href="classob_1_1VideoStreamProfile.html">VideoStreamProfile</a>() noexcept <span class="keyword">override</span>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    uint32_t fps() <span class="keyword">const</span>;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    uint32_t width() <span class="keyword">const</span>;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    uint32_t height() <span class="keyword">const</span>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <a class="code" href="structOBCameraIntrinsic.html">OBCameraIntrinsic</a> getIntrinsic();</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <a class="code" href="structOBCameraDistortion.html">OBCameraDistortion</a> getDistortion();</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;};</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classob_1_1AccelStreamProfile.html">  130</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1AccelStreamProfile.html">AccelStreamProfile</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a> {</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keyword">explicit</span> <a class="code" href="classob_1_1AccelStreamProfile.html">AccelStreamProfile</a>(<a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a> &amp;profile);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keyword">explicit</span> <a class="code" href="classob_1_1AccelStreamProfile.html">AccelStreamProfile</a>(std::unique_ptr&lt;StreamProfileImpl&gt; impl);</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    ~<a class="code" href="classob_1_1AccelStreamProfile.html">AccelStreamProfile</a>() noexcept <span class="keyword">override</span>;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <a class="code" href="ObTypes_8h.html#a6cb24ce2297d40025a4882b22b4550d0">OBAccelFullScaleRange</a> fullScaleRange() <span class="keyword">const</span>;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <a class="code" href="ObTypes_8h.html#ad0871ed9e31c96bb26faaed41da38289">OBAccelSampleRate</a> sampleRate() <span class="keyword">const</span>;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <a class="code" href="structOBAccelIntrinsic.html">OBAccelIntrinsic</a> getIntrinsic();</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;};</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classob_1_1GyroStreamProfile.html">  163</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1GyroStreamProfile.html">GyroStreamProfile</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a> {</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keyword">explicit</span> <a class="code" href="classob_1_1GyroStreamProfile.html">GyroStreamProfile</a>(<a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a> &amp;profile);</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">explicit</span> <a class="code" href="classob_1_1GyroStreamProfile.html">GyroStreamProfile</a>(std::unique_ptr&lt;StreamProfileImpl&gt; impl);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    ~<a class="code" href="classob_1_1GyroStreamProfile.html">GyroStreamProfile</a>() noexcept <span class="keyword">override</span>;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <a class="code" href="ObTypes_8h.html#a1d34f2e7fcba8d1a60b7d5df918ba3f8">OBGyroFullScaleRange</a> fullScaleRange() <span class="keyword">const</span>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <a class="code" href="ObTypes_8h.html#a3b444d13ed4a263aefa2b44e6da22b67">OBGyroSampleRate</a> sampleRate() <span class="keyword">const</span>;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <a class="code" href="structOBGyroIntrinsic.html">OBGyroIntrinsic</a> getIntrinsic();</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;};</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfile.html#a7db61937ccf512a635e08a3aba3cc422">  192</a></span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">bool</span> <a class="code" href="classob_1_1StreamProfile.html#a7db61937ccf512a635e08a3aba3cc422">StreamProfile::is</a>() {</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordflow">switch</span>(this-&gt;type()) {</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a9cba11fd750635cf57279fb5ecb49cb3">OB_STREAM_VIDEO</a>:</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a3eb56907f2dcdc0903fdf1dcd37cfef9">OB_STREAM_IR</a>:</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a7a5bab4b3de70fafcb2706379b5db403">OB_STREAM_IR_LEFT</a>:</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a7544eb1f07101bb35e7c521c6cce7db1">OB_STREAM_IR_RIGHT</a>:</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2ae01ce256e8968173f704e412e3b3b1c9">OB_STREAM_COLOR</a>:</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a5d97aafd168437dc66978ee682d1bf21">OB_STREAM_DEPTH</a>:</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a1d3dcea49ea62574e4ffa1f013668883">OB_STREAM_RAW_PHASE</a>:</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">typeid</span>(T) == <span class="keyword">typeid</span>(<a class="code" href="classob_1_1VideoStreamProfile.html">VideoStreamProfile</a>);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2aa90ea1fd8cf3c8181a200fdb4aa0427b">OB_STREAM_ACCEL</a>:</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">typeid</span>(T) == <span class="keyword">typeid</span>(<a class="code" href="classob_1_1AccelStreamProfile.html">AccelStreamProfile</a>);</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a2cdc2a2097903fe0922b334d2d0c4901">OB_STREAM_GYRO</a>:</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">typeid</span>(T) == <span class="keyword">typeid</span>(<a class="code" href="classob_1_1GyroStreamProfile.html">GyroStreamProfile</a>);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordflow">default</span>:</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    }</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;}</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfileList.html">  212</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1StreamProfileList.html">StreamProfileList</a> {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classob_1_1StreamProfileList.html#a24ceb6b2aa542cd316cee6c4ab2a15e7">  214</a></span>&#160;    std::unique_ptr&lt;StreamProfileListImpl&gt; <a class="code" href="classob_1_1StreamProfileList.html#a24ceb6b2aa542cd316cee6c4ab2a15e7">impl_</a>;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keyword">explicit</span> <a class="code" href="classob_1_1StreamProfileList.html">StreamProfileList</a>(std::unique_ptr&lt;StreamProfileListImpl&gt; impl);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    ~<a class="code" href="classob_1_1StreamProfileList.html">StreamProfileList</a>() noexcept;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    uint32_t count() const;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    const std::shared_ptr&lt;<a class="code" href="classob_1_1StreamProfile.html">StreamProfile</a>&gt; getProfile(uint32_t index);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    const std::shared_ptr&lt;<a class="code" href="classob_1_1VideoStreamProfile.html">VideoStreamProfile</a>&gt; getVideoStreamProfile(<span class="keywordtype">int</span> width = <a class="code" href="ObTypes_8h.html#a9b361dc99aceea67424ab913937a5f68">OB_WIDTH_ANY</a>, <span class="keywordtype">int</span> height = <a class="code" href="ObTypes_8h.html#ab2a356174680c09f5afda003b724f116">OB_HEIGHT_ANY</a>, <a class="code" href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a> format = <a class="code" href="ObTypes_8h.html#ab4517bcbc296d6ff427db1eea50b7070">OB_FORMAT_ANY</a>,</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                                                                    <span class="keywordtype">int</span> fps = <a class="code" href="ObTypes_8h.html#aae0778156fa30d9e595a6150d603b62e">OB_FPS_ANY</a>);</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    const std::shared_ptr&lt;<a class="code" href="classob_1_1AccelStreamProfile.html">AccelStreamProfile</a>&gt; getAccelStreamProfile(<a class="code" href="ObTypes_8h.html#a6cb24ce2297d40025a4882b22b4550d0">OBAccelFullScaleRange</a> fullScaleRange, <a class="code" href="ObTypes_8h.html#ad0871ed9e31c96bb26faaed41da38289">OBAccelSampleRate</a> sampleRate);</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    const std::shared_ptr&lt;<a class="code" href="classob_1_1GyroStreamProfile.html">GyroStreamProfile</a>&gt; getGyroStreamProfile(<a class="code" href="ObTypes_8h.html#a1d34f2e7fcba8d1a60b7d5df918ba3f8">OBGyroFullScaleRange</a> fullScaleRange, <a class="code" href="ObTypes_8h.html#a3b444d13ed4a263aefa2b44e6da22b67">OBGyroSampleRate</a> sampleRate);</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;};</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;}  <span class="comment">// namespace ob</span></div><div class="ttc" id="structOBGyroIntrinsic_html"><div class="ttname"><a href="structOBGyroIntrinsic.html">OBGyroIntrinsic</a></div><div class="ttdoc">Structure for gyroscope intrinsic parameters. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00405">ObTypes.h:405</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a30904eab1a667b797e7ce1099ba7c36a"><div class="ttname"><a href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a></div><div class="ttdeci">OBFormat</div><div class="ttdoc">Enumeration value describing the pixel format. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00216">ObTypes.h:216</a></div></div>
<div class="ttc" id="ObTypes_8h_html_ad0871ed9e31c96bb26faaed41da38289"><div class="ttname"><a href="ObTypes_8h.html#ad0871ed9e31c96bb26faaed41da38289">OBAccelSampleRate</a></div><div class="ttdeci">enum OBGyroSampleRate OBAccelSampleRate</div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2a7544eb1f07101bb35e7c521c6cce7db1"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a7544eb1f07101bb35e7c521c6cce7db1">OB_STREAM_IR_RIGHT</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00188">ObTypes.h:188</a></div></div>
<div class="ttc" id="classob_1_1Config_html"><div class="ttname"><a href="classob_1_1Config.html">ob::Config</a></div><div class="ttdoc">Config class for configuring pipeline parameters. </div><div class="ttdef"><b>Definition:</b> <a href="Pipeline_8hpp_source.html#l00210">Pipeline.hpp:210</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2a5d97aafd168437dc66978ee682d1bf21"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a5d97aafd168437dc66978ee682d1bf21">OB_STREAM_DEPTH</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00184">ObTypes.h:184</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2a9cba11fd750635cf57279fb5ecb49cb3"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a9cba11fd750635cf57279fb5ecb49cb3">OB_STREAM_VIDEO</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00181">ObTypes.h:181</a></div></div>
<div class="ttc" id="classob_1_1AccelStreamProfile_html"><div class="ttname"><a href="classob_1_1AccelStreamProfile.html">ob::AccelStreamProfile</a></div><div class="ttdoc">Class representing an accelerometer stream profile. </div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00130">StreamProfile.hpp:130</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a6cb24ce2297d40025a4882b22b4550d0"><div class="ttname"><a href="ObTypes_8h.html#a6cb24ce2297d40025a4882b22b4550d0">OBAccelFullScaleRange</a></div><div class="ttdeci">OBAccelFullScaleRange</div><div class="ttdoc">Enumeration of accelerometer ranges. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00623">ObTypes.h:623</a></div></div>
<div class="ttc" id="namespaceob_html"><div class="ttname"><a href="namespaceob.html">ob</a></div><div class="ttdef"><b>Definition:</b> <a href="Context_8hpp_source.html#l00016">Context.hpp:16</a></div></div>
<div class="ttc" id="classob_1_1StreamProfile_html"><div class="ttname"><a href="classob_1_1StreamProfile.html">ob::StreamProfile</a></div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00022">StreamProfile.hpp:22</a></div></div>
<div class="ttc" id="structOBD2CTransform_html"><div class="ttname"><a href="structOBD2CTransform.html">OBD2CTransform</a></div><div class="ttdoc">Structure for rotation/transformation. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00454">ObTypes.h:454</a></div></div>
<div class="ttc" id="classob_1_1StreamProfileList_html_a24ceb6b2aa542cd316cee6c4ab2a15e7"><div class="ttname"><a href="classob_1_1StreamProfileList.html#a24ceb6b2aa542cd316cee6c4ab2a15e7">ob::StreamProfileList::impl_</a></div><div class="ttdeci">std::unique_ptr&lt; StreamProfileListImpl &gt; impl_</div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00214">StreamProfile.hpp:214</a></div></div>
<div class="ttc" id="classob_1_1Sensor_html"><div class="ttname"><a href="classob_1_1Sensor.html">ob::Sensor</a></div><div class="ttdef"><b>Definition:</b> <a href="Sensor_8hpp_source.html#l00031">Sensor.hpp:31</a></div></div>
<div class="ttc" id="structOBCameraDistortion_html"><div class="ttname"><a href="structOBCameraDistortion.html">OBCameraDistortion</a></div><div class="ttdoc">Structure for distortion parameters. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00417">ObTypes.h:417</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2a1d3dcea49ea62574e4ffa1f013668883"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a1d3dcea49ea62574e4ffa1f013668883">OB_STREAM_RAW_PHASE</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00189">ObTypes.h:189</a></div></div>
<div class="ttc" id="Types_8hpp_html"><div class="ttname"><a href="Types_8hpp.html">Types.hpp</a></div><div class="ttdoc">Provides SDK structure and enumeration constant definitions (depending on libobsensor/h/ObTypes.h). </div></div>
<div class="ttc" id="ObTypes_8h_html_aae0778156fa30d9e595a6150d603b62e"><div class="ttname"><a href="ObTypes_8h.html#aae0778156fa30d9e595a6150d603b62e">OB_FPS_ANY</a></div><div class="ttdeci">#define OB_FPS_ANY</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00076">ObTypes.h:76</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a1d34f2e7fcba8d1a60b7d5df918ba3f8"><div class="ttname"><a href="ObTypes_8h.html#a1d34f2e7fcba8d1a60b7d5df918ba3f8">OBGyroFullScaleRange</a></div><div class="ttdeci">OBGyroFullScaleRange</div><div class="ttdoc">Enumeration of gyroscope ranges. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00607">ObTypes.h:607</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2a2cdc2a2097903fe0922b334d2d0c4901"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a2cdc2a2097903fe0922b334d2d0c4901">OB_STREAM_GYRO</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00186">ObTypes.h:186</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2aa90ea1fd8cf3c8181a200fdb4aa0427b"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2aa90ea1fd8cf3c8181a200fdb4aa0427b">OB_STREAM_ACCEL</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00185">ObTypes.h:185</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2a3eb56907f2dcdc0903fdf1dcd37cfef9"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a3eb56907f2dcdc0903fdf1dcd37cfef9">OB_STREAM_IR</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00182">ObTypes.h:182</a></div></div>
<div class="ttc" id="structOBAccelIntrinsic_html"><div class="ttname"><a href="structOBAccelIntrinsic.html">OBAccelIntrinsic</a></div><div class="ttdoc">Structure for accelerometer intrinsic parameters. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00392">ObTypes.h:392</a></div></div>
<div class="ttc" id="classob_1_1StreamProfile_html_a7db61937ccf512a635e08a3aba3cc422"><div class="ttname"><a href="classob_1_1StreamProfile.html#a7db61937ccf512a635e08a3aba3cc422">ob::StreamProfile::is</a></div><div class="ttdeci">bool is()</div><div class="ttdoc">Check if frame object is compatible with the given type. </div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00192">StreamProfile.hpp:192</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a9b361dc99aceea67424ab913937a5f68"><div class="ttname"><a href="ObTypes_8h.html#a9b361dc99aceea67424ab913937a5f68">OB_WIDTH_ANY</a></div><div class="ttdeci">#define OB_WIDTH_ANY</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00074">ObTypes.h:74</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2">OBStreamType</a></div><div class="ttdeci">OBStreamType</div><div class="ttdoc">Enumeration value describing the type of data stream. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00179">ObTypes.h:179</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2ae01ce256e8968173f704e412e3b3b1c9"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2ae01ce256e8968173f704e412e3b3b1c9">OB_STREAM_COLOR</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00183">ObTypes.h:183</a></div></div>
<div class="ttc" id="classob_1_1Pipeline_html"><div class="ttname"><a href="classob_1_1Pipeline.html">ob::Pipeline</a></div><div class="ttdef"><b>Definition:</b> <a href="Pipeline_8hpp_source.html#l00028">Pipeline.hpp:28</a></div></div>
<div class="ttc" id="ObTypes_8h_html_ab2a356174680c09f5afda003b724f116"><div class="ttname"><a href="ObTypes_8h.html#ab2a356174680c09f5afda003b724f116">OB_HEIGHT_ANY</a></div><div class="ttdeci">#define OB_HEIGHT_ANY</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00075">ObTypes.h:75</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a4372502297ded5d6e6ee8db1d71d69d2a7a5bab4b3de70fafcb2706379b5db403"><div class="ttname"><a href="ObTypes_8h.html#a4372502297ded5d6e6ee8db1d71d69d2a7a5bab4b3de70fafcb2706379b5db403">OB_STREAM_IR_LEFT</a></div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00187">ObTypes.h:187</a></div></div>
<div class="ttc" id="classob_1_1VideoStreamProfile_html"><div class="ttname"><a href="classob_1_1VideoStreamProfile.html">ob::VideoStreamProfile</a></div><div class="ttdoc">Class representing a video stream profile. </div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00082">StreamProfile.hpp:82</a></div></div>
<div class="ttc" id="ObTypes_8h_html_ab4517bcbc296d6ff427db1eea50b7070"><div class="ttname"><a href="ObTypes_8h.html#ab4517bcbc296d6ff427db1eea50b7070">OB_FORMAT_ANY</a></div><div class="ttdeci">#define OB_FORMAT_ANY</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00077">ObTypes.h:77</a></div></div>
<div class="ttc" id="classob_1_1StreamProfileList_html"><div class="ttname"><a href="classob_1_1StreamProfileList.html">ob::StreamProfileList</a></div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00212">StreamProfile.hpp:212</a></div></div>
<div class="ttc" id="classob_1_1StreamProfile_html_a666c4ae5317ebe38efb63833231ebdaa"><div class="ttname"><a href="classob_1_1StreamProfile.html#a666c4ae5317ebe38efb63833231ebdaa">ob::StreamProfile::impl_</a></div><div class="ttdeci">std::unique_ptr&lt; StreamProfileImpl &gt; impl_</div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00024">StreamProfile.hpp:24</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a3b444d13ed4a263aefa2b44e6da22b67"><div class="ttname"><a href="ObTypes_8h.html#a3b444d13ed4a263aefa2b44e6da22b67">OBGyroSampleRate</a></div><div class="ttdeci">OBGyroSampleRate</div><div class="ttdoc">Enumeration of IMU sample rate values (gyroscope or accelerometer) </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00584">ObTypes.h:584</a></div></div>
<div class="ttc" id="ObTypes_8h_html_aa0add2ff45ff52cc75dc92d44f883fbf"><div class="ttname"><a href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a></div><div class="ttdeci">#define OB_EXTENSION_API</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00028">ObTypes.h:28</a></div></div>
<div class="ttc" id="classob_1_1GyroStreamProfile_html"><div class="ttname"><a href="classob_1_1GyroStreamProfile.html">ob::GyroStreamProfile</a></div><div class="ttdoc">Class representing a gyroscope stream profile. </div><div class="ttdef"><b>Definition:</b> <a href="StreamProfile_8hpp_source.html#l00163">StreamProfile.hpp:163</a></div></div>
<div class="ttc" id="structOBCameraIntrinsic_html"><div class="ttname"><a href="structOBCameraIntrinsic.html">OBCameraIntrinsic</a></div><div class="ttdoc">Structure for camera intrinsic parameters. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00380">ObTypes.h:380</a></div></div>
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